<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
<html xmlns="http://www.w3.org/1999/xhtml">
<head>
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
<meta http-equiv="X-UA-Compatible" content="IE=9"/>
<meta name="generator" content="Doxygen 1.9.1"/>
<meta name="viewport" content="width=device-width, initial-scale=1"/>
<title>Doxygen: features/include/pcl/features/impl/3dsc.hpp 源文件</title>
<link href="tabs.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="jquery.js"></script>
<script type="text/javascript" src="dynsections.js"></script>
<link href="navtree.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="resize.js"></script>
<script type="text/javascript" src="navtreedata.js"></script>
<script type="text/javascript" src="navtree.js"></script>
<link href="search/search.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="search/searchdata.js"></script>
<script type="text/javascript" src="search/search.js"></script>
<link href="doxygen.css" rel="stylesheet" type="text/css" />
</head>
<body>
<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
<div id="titlearea">
<table cellspacing="0" cellpadding="0">
 <tbody>
 <tr style="height: 56px;">
  <td id="projectalign" style="padding-left: 0.5em;">
   <div id="projectname">Doxygen
   </div>
  </td>
 </tr>
 </tbody>
</table>
</div>
<!-- end header part -->
<!-- 制作者 Doxygen 1.9.1 -->
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
var searchBox = new SearchBox("searchBox", "search",false,'搜索','.html');
/* @license-end */
</script>
<script type="text/javascript" src="menudata.js"></script>
<script type="text/javascript" src="menu.js"></script>
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
$(function() {
  initMenu('',true,false,'search.php','搜索');
  $(document).ready(function() { init_search(); });
});
/* @license-end */</script>
<div id="main-nav"></div>
</div><!-- top -->
<div id="side-nav" class="ui-resizable side-nav-resizable">
  <div id="nav-tree">
    <div id="nav-tree-contents">
      <div id="nav-sync" class="sync"></div>
    </div>
  </div>
  <div id="splitbar" style="-moz-user-select:none;" 
       class="ui-resizable-handle">
  </div>
</div>
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
$(document).ready(function(){initNavTree('3dsc_8hpp_source.html',''); initResizable(); });
/* @license-end */
</script>
<div id="doc-content">
<!-- window showing the filter options -->
<div id="MSearchSelectWindow"
     onmouseover="return searchBox.OnSearchSelectShow()"
     onmouseout="return searchBox.OnSearchSelectHide()"
     onkeydown="return searchBox.OnSearchSelectKey(event)">
</div>

<!-- iframe showing the search results (closed by default) -->
<div id="MSearchResultsWindow">
<iframe src="javascript:void(0)" frameborder="0" 
        name="MSearchResults" id="MSearchResults">
</iframe>
</div>

<div class="header">
  <div class="headertitle">
<div class="title">3dsc.hpp</div>  </div>
</div><!--header-->
<div class="contents">
<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2010-2011, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *  Copyright (c) 2012-, Open Perception, Inc.</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment"> *   * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment"> *     copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment"> *     disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment"> *     with the distribution.</span></div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment"> *   * Neither the name of the copyright holder(s) nor the names of its</span></div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment"> *     contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment"> *     from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment"> *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment"> *  &quot;AS IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="comment"> *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="comment"> *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span></div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="comment"> *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span></div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="comment"> *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span></div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="comment"> *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="comment"> *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="comment"> *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="comment"> *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> *  POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160; </div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#ifndef PCL_FEATURES_IMPL_3DSC_HPP_</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#define PCL_FEATURES_IMPL_3DSC_HPP_</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160; </div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#include &lt;cmath&gt;</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;pcl/features/3dsc.h&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;pcl/common/utils.h&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="common_2include_2pcl_2common_2geometry_8h.html">pcl/common/geometry.h</a>&gt;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="angles_8h.html">pcl/common/angles.h</a>&gt;</span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160; </div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>NT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00050"></a><span class="lineno"><a class="line" href="classpcl_1_1_shape_context3_d_estimation.html#a5f2b4043f9c1fe8be14570debee1d453">   50</a></span>&#160;<a class="code" href="classpcl_1_1_shape_context3_d_estimation.html#a5f2b4043f9c1fe8be14570debee1d453">pcl::ShapeContext3DEstimation&lt;PointInT, PointNT, PointOutT&gt;::initCompute</a> ()</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;{</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;  <span class="keywordflow">if</span> (!<a class="code" href="classpcl_1_1_feature_from_normals.html">FeatureFromNormals&lt;PointInT, PointNT, PointOutT&gt;::initCompute</a> ())</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;  {</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[pcl::%s::initCompute] Init failed.\n&quot;</span>, getClassName ().c_str ());</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;  }</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160; </div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;  <span class="keywordflow">if</span> (search_radius_&lt; min_radius_)</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;  {</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[pcl::%s::initCompute] search_radius_ must be GREATER than min_radius_.\n&quot;</span>, getClassName ().c_str ());</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;  }</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160; </div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;  <span class="comment">// Update descriptor length</span></div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;  descriptor_length_ = elevation_bins_ * azimuth_bins_ * radius_bins_;</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160; </div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;  <span class="comment">// Compute radial, elevation and azimuth divisions</span></div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;  <span class="keywordtype">float</span> azimuth_interval = 360.0f / <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (azimuth_bins_);</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;  <span class="keywordtype">float</span> elevation_interval = 180.0f / <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (elevation_bins_);</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160; </div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;  <span class="comment">// Reallocate divisions and volume lut</span></div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;  radii_interval_.clear ();</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;  phi_divisions_.clear ();</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;  theta_divisions_.clear ();</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;  volume_lut_.clear ();</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160; </div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;  <span class="comment">// Fills radii interval based on formula (1) in section 2.1 of Frome&#39;s paper</span></div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;  radii_interval_.resize (radius_bins_ + 1);</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> j = 0; j &lt; radius_bins_ + 1; j++)</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;    radii_interval_[j] = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (exp (log (min_radius_) + ((<span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (j) / <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (radius_bins_)) * log (search_radius_ / min_radius_))));</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160; </div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;  <span class="comment">// Fill theta divisions of elevation</span></div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;  theta_divisions_.resize (elevation_bins_ + 1);</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> k = 0; k &lt; elevation_bins_ + 1; k++)</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;    theta_divisions_[k] = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (k) * elevation_interval;</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160; </div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;  <span class="comment">// Fill phi didvisions of elevation</span></div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;  phi_divisions_.resize (azimuth_bins_ + 1);</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> l = 0; l &lt; azimuth_bins_ + 1; l++)</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;    phi_divisions_[l] = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (l) * azimuth_interval;</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160; </div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;  <span class="comment">// LookUp Table that contains the volume of all the bins</span></div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;  <span class="comment">// &quot;phi&quot; term of the volume integral</span></div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;  <span class="comment">// &quot;integr_phi&quot; has always the same value so we compute it only one time</span></div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;  <span class="keywordtype">float</span> integr_phi  = <a class="code" href="group__common.html#ga25b0ce695e2a10abb0130bcb5cf90eb6">pcl::deg2rad</a> (phi_divisions_[1]) - <a class="code" href="group__common.html#ga25b0ce695e2a10abb0130bcb5cf90eb6">pcl::deg2rad</a> (phi_divisions_[0]);</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;  <span class="comment">// exponential to compute the cube root using pow</span></div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;  <span class="keywordtype">float</span> e = 1.0f / 3.0f;</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;  <span class="comment">// Resize volume look up table</span></div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;  volume_lut_.resize (radius_bins_ * elevation_bins_ * azimuth_bins_);</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;  <span class="comment">// Fill volumes look up table</span></div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> j = 0; j &lt; radius_bins_; j++)</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;  {</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;    <span class="comment">// &quot;r&quot; term of the volume integral</span></div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;    <span class="keywordtype">float</span> integr_r = (radii_interval_[j+1] * radii_interval_[j+1] * radii_interval_[j+1] / 3.0f) - (radii_interval_[j] * radii_interval_[j] * radii_interval_[j] / 3.0f);</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160; </div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> k = 0; k &lt; elevation_bins_; k++)</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;    {</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;      <span class="comment">// &quot;theta&quot; term of the volume integral</span></div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;      <span class="keywordtype">float</span> integr_theta = cosf (<a class="code" href="group__common.html#ga25b0ce695e2a10abb0130bcb5cf90eb6">pcl::deg2rad</a> (theta_divisions_[k])) - cosf (<a class="code" href="group__common.html#ga25b0ce695e2a10abb0130bcb5cf90eb6">pcl::deg2rad</a> (theta_divisions_[k+1]));</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;      <span class="comment">// Volume</span></div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;      <span class="keywordtype">float</span> V = integr_phi * integr_theta * integr_r;</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;      <span class="comment">// Compute cube root of the computed volume commented for performance but left</span></div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;      <span class="comment">// here for clarity</span></div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;      <span class="comment">// float cbrt = pow(V, e);</span></div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;      <span class="comment">// cbrt = 1 / cbrt;</span></div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160; </div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> l = 0; l &lt; azimuth_bins_; l++)</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;      {</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;        <span class="comment">// Store in lut 1/cbrt</span></div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;        <span class="comment">//volume_lut_[ (l*elevation_bins_*radius_bins_) + k*radius_bins_ + j ] = cbrt;</span></div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;        volume_lut_[(l*elevation_bins_*radius_bins_) + k*radius_bins_ + j] = 1.0f / powf (V, e);</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;      }</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;    }</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;  }</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;  <span class="keywordflow">return</span> (<span class="keyword">true</span>);</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;}</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160; </div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>NT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00130"></a><span class="lineno"><a class="line" href="classpcl_1_1_shape_context3_d_estimation.html#aa2e72af449246ae73d6bebe190b3952b">  130</a></span>&#160;<a class="code" href="classpcl_1_1_shape_context3_d_estimation.html#aa2e72af449246ae73d6bebe190b3952b">pcl::ShapeContext3DEstimation&lt;PointInT, PointNT, PointOutT&gt;::computePoint</a> (</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;    <span class="keywordtype">size_t</span> index, <span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointNT&gt;</a> &amp;normals, <span class="keywordtype">float</span> rf[9], std::vector&lt;float&gt; &amp;desc)</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;{</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;  <span class="comment">// The RF is formed as this x_axis | y_axis | normal</span></div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;  Eigen::Map&lt;Eigen::Vector3f&gt; x_axis (rf);</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;  Eigen::Map&lt;Eigen::Vector3f&gt; y_axis (rf + 3);</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;  Eigen::Map&lt;Eigen::Vector3f&gt; normal (rf + 6);</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160; </div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;  <span class="comment">// Find every point within specified search_radius_</span></div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;  std::vector&lt;int&gt; nn_indices;</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;  std::vector&lt;float&gt; nn_dists;</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">size_t</span> neighb_cnt = searchForNeighbors ((*indices_)[index], search_radius_, nn_indices, nn_dists);</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;  <span class="keywordflow">if</span> (neighb_cnt == 0)</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;  {</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; desc.size (); ++i)</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;      desc[i] = std::numeric_limits&lt;float&gt;::quiet_NaN ();</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160; </div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;    memset (rf, 0, <span class="keyword">sizeof</span> (rf[0]) * 9);</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;  }</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160; </div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;  <span class="keywordtype">float</span> minDist = std::numeric_limits&lt;float&gt;::max ();</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;  <span class="keywordtype">int</span> minIndex = -1;</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; nn_indices.size (); i++)</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;  {</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;      <span class="keywordflow">if</span> (nn_dists[i] &lt; minDist)</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;      {</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;      minDist = nn_dists[i];</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;      minIndex = nn_indices[i];</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;      }</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;  }</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160; </div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;  <span class="comment">// Get origin point</span></div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;  Vector3fMapConst origin = input_-&gt;points[(*indices_)[index]].getVector3fMap ();</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;  <span class="comment">// Get origin normal</span></div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;  <span class="comment">// Use pre-computed normals</span></div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;  normal = normals[minIndex].getNormalVector3fMap ();</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160; </div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;  <span class="comment">// Compute and store the RF direction</span></div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;  x_axis[0] = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (rnd ());</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;  x_axis[1] = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (rnd ());</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;  x_axis[2] = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (rnd ());</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;  <span class="keywordflow">if</span> (!pcl::utils::equal (normal[2], 0.0f))</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;    x_axis[2] = - (normal[0]*x_axis[0] + normal[1]*x_axis[1]) / normal[2];</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;  <span class="keywordflow">else</span> <span class="keywordflow">if</span> (!pcl::utils::equal (normal[1], 0.0f))</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;    x_axis[1] = - (normal[0]*x_axis[0] + normal[2]*x_axis[2]) / normal[1];</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;  <span class="keywordflow">else</span> <span class="keywordflow">if</span> (!pcl::utils::equal (normal[0], 0.0f))</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;    x_axis[0] = - (normal[1]*x_axis[1] + normal[2]*x_axis[2]) / normal[0];</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160; </div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;  x_axis.normalize ();</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160; </div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;  <span class="comment">// Check if the computed x axis is orthogonal to the normal</span></div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;  assert (pcl::utils::equal (x_axis[0]*normal[0] + x_axis[1]*normal[1] + x_axis[2]*normal[2], 0.0f, 1E-6f));</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160; </div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;  <span class="comment">// Store the 3rd frame vector</span></div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;  y_axis.matrix () = normal.cross (x_axis);</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160; </div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;  <span class="comment">// For each point within radius</span></div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> ne = 0; ne &lt; neighb_cnt; ne++)</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;  {</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;    <span class="keywordflow">if</span> (pcl::utils::equal (nn_dists[ne], 0.0f))</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;          <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;    <span class="comment">// Get neighbours coordinates</span></div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;    Eigen::Vector3f neighbour = surface_-&gt;points[nn_indices[ne]].getVector3fMap ();</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160; </div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;    <span class="keywordtype">float</span> r = std::sqrt (nn_dists[ne]);</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160; </div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;    Eigen::Vector3f proj;</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;    pcl::geometry::project (neighbour, origin, normal, proj);</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;    proj -= origin;</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160; </div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;    proj.normalize ();</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160; </div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;    Eigen::Vector3f cross = x_axis.cross (proj);</div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;    <span class="keywordtype">float</span> phi = <a class="code" href="group__common.html#ga3177c2c084674693cc38f03e80b6ad77">pcl::rad2deg</a> (std::atan2 (cross.norm (), x_axis.dot (proj)));</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;    phi = cross.dot (normal) &lt; 0.f ? (360.0f - phi) : phi;</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;    Eigen::Vector3f no = neighbour - origin;</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;    no.normalize ();</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;    <span class="keywordtype">float</span> theta = normal.dot (no);</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;    theta = <a class="code" href="group__common.html#ga3177c2c084674693cc38f03e80b6ad77">pcl::rad2deg</a> (acosf (std::min (1.0f, std::max (-1.0f, theta))));</div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160; </div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;    <span class="comment">// Bin (j, k, l)</span></div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;    <span class="keywordtype">size_t</span> j = 0;</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;    <span class="keywordtype">size_t</span> k = 0;</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;    <span class="keywordtype">size_t</span> l = 0;</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160; </div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;    <span class="comment">// Compute the Bin(j, k, l) coordinates of current neighbour</span></div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> rad = 1; rad &lt; radius_bins_+1; rad++)</div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;    {</div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;      <span class="keywordflow">if</span> (r &lt;= radii_interval_[rad])</div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;      {</div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;        j = rad-1;</div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;        <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;      }</div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;    }</div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160; </div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> ang = 1; ang &lt; elevation_bins_+1; ang++)</div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;    {</div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;      <span class="keywordflow">if</span> (theta &lt;= theta_divisions_[ang])</div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;      {</div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;        k = ang-1;</div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;        <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;      }</div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;    }</div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160; </div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> ang = 1; ang &lt; azimuth_bins_+1; ang++)</div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;    {</div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;      <span class="keywordflow">if</span> (phi &lt;= phi_divisions_[ang])</div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;      {</div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;        l = ang-1;</div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;        <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;      }</div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;    }</div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160; </div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;    <span class="comment">// Local point density = number of points in a sphere of radius &quot;point_density_radius_&quot; around the current neighbour</span></div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;    std::vector&lt;int&gt; neighbour_indices;</div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;    std::vector&lt;float&gt; neighbour_distances;</div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;    <span class="keywordtype">int</span> point_density = searchForNeighbors (*surface_, nn_indices[ne], point_density_radius_, neighbour_indices, neighbour_distances);</div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;    <span class="comment">// point_density is NOT always bigger than 0 (on error, searchForNeighbors returns 0), so we must check for that</span></div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;    <span class="keywordflow">if</span> (point_density == 0)</div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;      <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160; </div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;    <span class="keywordtype">float</span> w = (1.0f / <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (point_density)) *</div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;              volume_lut_[(l*elevation_bins_*radius_bins_) +  (k*radius_bins_) + j];</div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160; </div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;    assert (w &gt;= 0.0);</div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;    <span class="keywordflow">if</span> (w == std::numeric_limits&lt;float&gt;::infinity ())</div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;      PCL_ERROR (<span class="stringliteral">&quot;Shape Context Error INF!\n&quot;</span>);</div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;    <span class="keywordflow">if</span> (w != w)</div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;      PCL_ERROR (<span class="stringliteral">&quot;Shape Context Error IND!\n&quot;</span>);</div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;    desc[(l*elevation_bins_*radius_bins_) + (k*radius_bins_) + j] += w;</div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160; </div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;    assert (desc[(l*elevation_bins_*radius_bins_) + (k*radius_bins_) + j] &gt;= 0);</div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;  } <span class="comment">// end for each neighbour</span></div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160; </div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;  <span class="comment">// 3DSC does not define a repeatable local RF, we set it to zero to signal it to the user</span></div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;  memset (rf, 0, <span class="keyword">sizeof</span> (rf[0]) * 9);</div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;  <span class="keywordflow">return</span> (<span class="keyword">true</span>);</div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;}</div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160; </div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>NT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00279"></a><span class="lineno"><a class="line" href="classpcl_1_1_shape_context3_d_estimation.html#a8e6b76212b516113b8f6ea0254ecb607">  279</a></span>&#160;<a class="code" href="classpcl_1_1_shape_context3_d_estimation.html#a8e6b76212b516113b8f6ea0254ecb607">pcl::ShapeContext3DEstimation&lt;PointInT, PointNT, PointOutT&gt;::computeFeature</a> (<a class="code" href="classpcl_1_1_point_cloud.html">PointCloudOut</a> &amp;output)</div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;{</div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;  assert (descriptor_length_ == 1980);</div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160; </div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;  output.<a class="code" href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">is_dense</a> = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;  <span class="comment">// Iterate over all points and compute the descriptors</span></div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> point_index = 0; point_index &lt; indices_-&gt;size (); point_index++)</div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;  {</div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;    <span class="comment">//output[point_index].descriptor.resize (descriptor_length_);</span></div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160; </div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;    <span class="comment">// If the point is not finite, set the descriptor to NaN and continue</span></div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;    <span class="keywordflow">if</span> (!isFinite ((*input_)[(*indices_)[point_index]]))</div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;    {</div>
<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; descriptor_length_; ++i)</div>
<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;        output[point_index].descriptor[i] = std::numeric_limits&lt;float&gt;::quiet_NaN ();</div>
<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160; </div>
<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;      memset (output[point_index].rf, 0, <span class="keyword">sizeof</span> (output[point_index].rf[0]) * 9);</div>
<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;      output.<a class="code" href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">is_dense</a> = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;      <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;    }</div>
<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160; </div>
<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;    std::vector&lt;float&gt; descriptor (descriptor_length_);</div>
<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;    <span class="keywordflow">if</span> (!computePoint (point_index, *normals_, output[point_index].rf, descriptor))</div>
<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;      output.<a class="code" href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">is_dense</a> = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> j = 0; j &lt; descriptor_length_; ++j)</div>
<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;      output[point_index].descriptor[j] = descriptor[j];</div>
<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;  }</div>
<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;}</div>
<div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160; </div>
<div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;<span class="preprocessor">#define PCL_INSTANTIATE_ShapeContext3DEstimation(T,NT,OutT) template class PCL_EXPORTS pcl::ShapeContext3DEstimation&lt;T,NT,OutT&gt;;</span></div>
<div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160; </div>
<div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="ttc" id="aangles_8h_html"><div class="ttname"><a href="angles_8h.html">angles.h</a></div></div>
<div class="ttc" id="aclasspcl_1_1_feature_from_normals_html"><div class="ttname"><a href="classpcl_1_1_feature_from_normals.html">pcl::FeatureFromNormals</a></div><div class="ttdef"><b>Definition:</b> feature.h:311</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt; PointNT &gt;</a></div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a3ca88d8ebf6f4f35acbc31cdfb38aa94"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">pcl::PointCloud::is_dense</a></div><div class="ttdeci">bool is_dense</div><div class="ttdoc">True if no points are invalid (e.g., have NaN or Inf values).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:418</div></div>
<div class="ttc" id="aclasspcl_1_1_shape_context3_d_estimation_html_a5f2b4043f9c1fe8be14570debee1d453"><div class="ttname"><a href="classpcl_1_1_shape_context3_d_estimation.html#a5f2b4043f9c1fe8be14570debee1d453">pcl::ShapeContext3DEstimation::initCompute</a></div><div class="ttdeci">bool initCompute()</div><div class="ttdoc">Initialize computation by allocating all the intervals and the volume lookup table.</div><div class="ttdef"><b>Definition:</b> 3dsc.hpp:50</div></div>
<div class="ttc" id="aclasspcl_1_1_shape_context3_d_estimation_html_a8e6b76212b516113b8f6ea0254ecb607"><div class="ttname"><a href="classpcl_1_1_shape_context3_d_estimation.html#a8e6b76212b516113b8f6ea0254ecb607">pcl::ShapeContext3DEstimation::computeFeature</a></div><div class="ttdeci">void computeFeature(PointCloudOut &amp;output)</div><div class="ttdoc">Estimate the actual feature.</div><div class="ttdef"><b>Definition:</b> 3dsc.hpp:279</div></div>
<div class="ttc" id="aclasspcl_1_1_shape_context3_d_estimation_html_aa2e72af449246ae73d6bebe190b3952b"><div class="ttname"><a href="classpcl_1_1_shape_context3_d_estimation.html#aa2e72af449246ae73d6bebe190b3952b">pcl::ShapeContext3DEstimation::computePoint</a></div><div class="ttdeci">bool computePoint(size_t index, const pcl::PointCloud&lt; PointNT &gt; &amp;normals, float rf[9], std::vector&lt; float &gt; &amp;desc)</div><div class="ttdoc">Estimate a descriptor for a given point.</div><div class="ttdef"><b>Definition:</b> 3dsc.hpp:130</div></div>
<div class="ttc" id="acommon_2include_2pcl_2common_2geometry_8h_html"><div class="ttname"><a href="common_2include_2pcl_2common_2geometry_8h.html">geometry.h</a></div></div>
<div class="ttc" id="agroup__common_html_ga25b0ce695e2a10abb0130bcb5cf90eb6"><div class="ttname"><a href="group__common.html#ga25b0ce695e2a10abb0130bcb5cf90eb6">pcl::deg2rad</a></div><div class="ttdeci">float deg2rad(float alpha)</div><div class="ttdoc">Convert an angle from degrees to radians</div><div class="ttdef"><b>Definition:</b> angles.hpp:67</div></div>
<div class="ttc" id="agroup__common_html_ga3177c2c084674693cc38f03e80b6ad77"><div class="ttname"><a href="group__common.html#ga3177c2c084674693cc38f03e80b6ad77">pcl::rad2deg</a></div><div class="ttdeci">float rad2deg(float alpha)</div><div class="ttdoc">Convert an angle from radians to degrees</div><div class="ttdef"><b>Definition:</b> angles.hpp:61</div></div>
</div><!-- fragment --></div><!-- contents -->
</div><!-- doc-content -->
<!-- start footer part -->
<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
  <ul>
    <li class="navelem"><a class="el" href="dir_9a1a4359f87a67855aa82c0560dc9571.html">features</a></li><li class="navelem"><a class="el" href="dir_41d7953d0f26ce0cd6d0f8fad63e33a4.html">include</a></li><li class="navelem"><a class="el" href="dir_c94e79c2c5a14cf51fca344e688faa8f.html">pcl</a></li><li class="navelem"><a class="el" href="dir_1fa9e61e4e86bede49a260cd2971bd05.html">features</a></li><li class="navelem"><a class="el" href="dir_1bdd8dc6a4f40b9d01b6b9595d75a350.html">impl</a></li><li class="navelem"><b>3dsc.hpp</b></li>
    <li class="footer">制作者 <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1 </li>
  </ul>
</div>
</body>
</html>
